| 201A2 |
|---|
| Adaptive H-infinity Control for Servo System with Friction Compensation |
| AUTHORS |
| Kazuya SATO, Aki HAYAKAWA (Graduate School of Saga University) Hideki HONDA (YASKAWA ELECTRIC CORPORATION ) Keigo WATANABE (Graduate School of Saga University) |
| ABSTRACT |
| This paper considers on an adaptive friction compensation based on notion of H-infinity optimality. By considering the position and velocity tracking control of a servo mechanism with friction, adaptive friction compensation scheme is given based on dynamic LuGre model. An adaptive Neural-Network (NN) controller is given, where the NN is used to parameterize the nonlinear characteristic function of the dynamic LuGre model. An approximation error in NN is regarded as exogenous disturbance to the system. Consequently, in the resulting control system, the L2 gains from the disturbance to generalized outputs are made less than prescribed positive constants.Numerical simulations are shown to illustrate the effectiveness of our proposed method. |
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Annual Conference 2002